ST. PETERS, Mo. (KMOV ) – Authorities have released charges against a convicted sex offender accused of taking off with a 16-year-old girl from St. Charles last week.

Benjamin Kinkade, 27, is charged with statutory rape and failure to register as a sex offender.

Police said teenager was reported missing by her parents Jan. 14 after they dropped her off at work. Her parents later found out she was not scheduled to work that day.

Surveillance video reportedly showed the girlt left the Kentucky Fried Chicken, located at 1699 Jungermann Road, on foot and headed in an unknown direction with Kinkade.

Investigators said Kinkade's family was open and cooperative with the investigation, and a member of the family called the Monroe County Sheriff's Department wanting to turn in him and the teen. Police arrived at the residence of the family member who contacted authorities, and discovered the girl was safe and had no visible injuries.

On January 16th, the girl's father reportedly picked her up in Monroe County.

According to the teen's family, she and Kinkade met at the KFC, where he worked as a manager. The family said he was fired in December when police caught him and the teen together, and police learned of his criminal history.

Kinkade pleaded guilty in 2002 for having sex with a 12-year-old girl.